void gpsNmeaTest(void)
{
// set the baud rate of UART 1 for NMEA
uartSetBaudRate(1,4800);
// clear screen
vt100ClearScreen();
// initialize gps library
gpsInit();
// initialize gps packet decoder
nmeaInit();
// begin gps packet processing loop
while(1)
{
// process received gps packets until receive buffer is exhausted
while( nmeaProcess(uartGetRxBuffer(1)) );
// set cursor position to top left of screen
vt100SetCursorPos(0,0);
// print/dump current formatted GPS data
gpsInfoPrint();
// print UART 1 overflow status to verify that we're processing packets
// fast enough and that our receive buffer is large enough
rprintf("Uart1RxOvfl: %d\r\n",uartRxOverflow[1]);
// pause for 100ms
timerPause(100);
}
}
//----- Begin Code ------------------------------------------------------------
int main(void)
{
// initialize our libraries
// initialize the UART (serial port)
uartInit();
// set the baud rate of the UART for our debug/reporting output
uartSetBaudRate(9600);
// initialize the timer system
timerInit();
// initialize rprintf system
// - use uartSendByte as the output for all rprintf statements
// this will cause all rprintf library functions to direct their
// output to the uart
// - rprintf can be made to output to any device which takes characters.
// You must write a function which takes an unsigned char as an argument
// and then pass this to rprintfInit like this: rprintfInit(YOUR_FUNCTION);
rprintfInit(uartSendByte);
// initialize vt100 library
vt100Init();
// clear the terminal screen
vt100ClearScreen();
// run the test
rprintfTest();
return 0;
}
//----- Begin Code ------------------------------------------------------------
int main(void)
{
// initialize our libraries
// initialize the UART (serial port)
uartInit();
uartSetBaudRate(115200);
// make all rprintf statements use uart for output
rprintfInit(uartSendByte);
// initialize the timer system
timerInit();
// initialize vt100 terminal
vt100Init();
timerPause(100);
// print welcome message
vt100ClearScreen();
vt100SetCursorPos(1,0);
rprintfProgStrM("\r\nWelcome to the MMC Test Suite!\r\n");
timerPause(1000);
mmcTest();
return 0;
}
void sabertooth(int m1, int m2)
{
//rprintfInit(uart2SendByte);//select uart2
uartSetBaudRate(2, 38400);//select baud (see page 13/14 of datasheet)
uart2SendByte(m1);//send a command for motor 1
uart2SendByte(m2);//send a command for motor 2
}
//----- Begin Code ------------------------------------------------------------
int main(void)
{
// initialize our libraries
// initialize the UART (serial port)
uartInit();
uartSetBaudRate(9600);
// make all rprintf statements use uart for output
rprintfInit(uartSendByte);
// turn on and initialize A/D converter
a2dInit();
// initialize the timer system
timerInit();
// initialize vt100 terminal
vt100Init();
// configure port B for led output and pushbutton input
outb(DDRB, 0x0F);
// all LEDs on
outb(PORTB, 0x00);
// wait for hardware to power up
timerPause(100);
// all LEDs off
outb(PORTB, 0x0F);
// start command line
goCmdline();
return 0;
}
// functions
void oscInit(void)
{
// initialize uart (if not already done)
uartInit();
// set the default communication rate
uartSetBaudRate(38400);
}
/******************************************************************************
* Functions
******************************************************************************/
void uartDataTaskInit(void)
{
// Initialization of communication
uartInit();
uartSetBaudRate(115200);
stdout = &mystdout;
}
// enable and initialize the uart
void uartInit(void)
{
// initialize the buffers
uartInitBuffers();
// initialize user receive handler
UartRxFunc = 0;
#if USE_2X
sbi(UCSRA, U2X);
#else
cbi(UCSRA, U2X);
#endif
// enable RxD/TxD and interrupts
//outb(UCSRB, BV(RXCIE)|BV(TXCIE)|BV(RXEN)|BV(TXEN));
outb(UCSRB, BV(RXCIE)|BV(RXEN)|BV(TXEN));
outb(UCSRC, BV(UCSZ1)|BV(UCSZ0)); /* 8 data bits, 1 stop bit */
// set default baud rate
uartSetBaudRate(UART_DEFAULT_BAUD_RATE);
// initialize states
//uartReadyTx = TRUE;
//uartBufferedTx = FALSE;
// clear overflow count
uartRxOverflow = 0;
// enable interrupts
sei();
}
// enable and initialize the uart
void uartInit(void)
{
// initialize the buffers
uartInitBuffers();
// initialize user receive handler
UartRxFunc = 0;
// enable RxD/TxD and interrupts
UCR = (1<<RXCIE)|(1<<TXCIE)|(1<<RXEN)|(1<<TXEN);
//#ifdef UCSRA
// Make sure 2x speed is off -JR
// UCSRA &= ~(1<<U2X);
//#endif
// set default baud rate
uartSetBaudRate(UART_DEFAULT_BAUD_RATE);
// initialize states
uartReadyTx = TRUE;
uartBufferedTx = FALSE;
// clear overflow count
uartRxOverflow = 0;
// enable interrupts
sei();
}
void setup() {
uartInit();
uartSetBaudRate(0, 9600);
rprintfInit(uart0SendByte);
//rprintf("$Id$");
// this goes to the switch common
sbi(DDRD, PD4); // output on PD4
cbi(PORTD, PD4); // take it low
// rocker
cbi(DDRD, PD5); // input on PD5
sbi(PORTD, PD5); // tri-state the input
// rocker
cbi(DDRD, PD6);
sbi(PORTD, PD6); // tri-state the input
// rocker press
cbi(DDRD, PD7);
sbi(PORTD, PD7);
sbi(DDRB, PB3); // output for the LED
sbi(PORTB, PB3);
}
//----- Begin Code ------------------------------------------------------------
int main(void)
{
// initialize our libraries
// initialize the UART (serial port)
uartInit();
// set the baud rate of UART 0 for our debug/reporting output
uartSetBaudRate(0,9600);
// set uart0SendByte as the output for all rprintf statements
rprintfInit(uart0SendByte);
// initialize the timer system
timerInit();
// initialize vt100 library
vt100Init();
// print a little intro message so we know things are working
vt100ClearScreen();
rprintf("\r\nWelcome to GPS Test!\r\n");
// run example gps processing loop
// (pick the one appropriate for your GPS packet format)
// gpsTsipTest();
gpsNmeaTest();
return 0;
}
void setup() {
uartInit();
uartSetBaudRate(0, 9600);
rprintfInit(uart0SendByte);
rprintf("Hello..\r\n");
//vt100Init();
cbi(DDRC, DDC3); // input
cbi(DDRA, DDA0); // input
cbi(DDRA, DDA1); // input
cbi(DDRA, DDA2); // input
cbi(DDRA, DDA3); // input
cbi(DDRA, DDA4);
sbi(DDRA, DDA5); // output connected by select to PA4
cbi(PORTA, PA5);
sbi(PORTA, PA0); // pull-ups enabled
sbi(PORTA, PA1);
sbi(PORTA, PA2);
sbi(PORTA, PA3);
sbi(PORTA, PA4);
cbi(PORTA, PA5);
cbi(DDRD, DDD6); // input
//cbi(PORTB, PB3);
// We want PCINT30 enabled so we know when the charger is connected
// PCICR |= (1<<PCIE3); // enable pin change interrupt 3 for PCINT31..24.
// PCMSK3 |= 0xFF;//(1<<PCINT30); // enable PCINT30
// arb switch
PCICR |= (0<<PCIE3) | (0<<PCIE2) | (0<<PCIE1) | (1<<PCIE0);
// PCMSK3 |= (1<<PCINT30);
// PCMSK3 |= (1<<PCINT26);
// PCMSK2 |= (1<<PCINT19);
PCMSK0 |= (1<<PCINT0) | (1<<PCINT1) | (1<<PCINT2) | (1<<PCINT3) | (1<<PCINT4) | (1<<PCINT5);
// set up the power pulse LED
TCCR0A |= (1<<WGM00) | (1<<COM0A1); // mode 1, phase-correct PWM
TCCR0B |= (1<<CS02); // clk/256 from prescaler
//TCCR0B |= (0<<CS02) | (1<<CS01) | (1<<CS00); // clk/64
TCNT0 = 0x00;
sbi(TIMSK0, TOIE0);
sbi(DDRB, PB3);
sbi(PORTB, PB3);
/*
cbi(DDRD, PD6); // configure PD6 as input
sbi(PORTD, PD6); // turn on pull-up resistor
*/
sei();
}
void initUart(void)
{
uartInit();
// make all rprintf statements use uart for output
rprintfInit(uartSendByte);
// initialize the timer system
uartSetBaudRate(2400);
}
void open_log_init(void) {
uart1Init();
uartSetBaudRate(1,9600);
OPEN_LOG_PWR_PORT &= ~(1<<OPEN_LOG_PWR_PIN);
DDR(OPEN_LOG_PWR_PORT) |= (1<<OPEN_LOG_PWR_PIN);
// setup our reset port and pin, hold reset high
OPEN_LOG_RESET_PORT |= (1<<OPEN_LOG_RESET_PIN);
DDR(OPEN_LOG_RESET_PORT) |= (1<<OPEN_LOG_RESET_PIN);
}
void main(void)
{
struct tm* t = NULL;
char buf[32];
uint8_t hour, min, sec;
uartInit();
uartSetBaudRate(9600);
uartSendString("DS RTC Library Test\n");
LED_DDR |= _BV(LED_BIT); // indicator led
for (int i = 0; i < 5; i++) {
LED_HIGH;
_delay_ms(100);
LED_LOW;
_delay_ms(100);
}
uartSendString("Before Init\n");
twi_init_master();
rtc_init();
rtc_set_time_s(12, 0, 50);
uartSendString("After Init\n");
if (rtc_is_ds1307())
uartSendString("DS1307\n");
else
uartSendString("DS3231\n");
rtc_set_alarm_s(12, 1, 0);
rtc_get_alarm_s(&hour, &min, &sec);
sprintf(buf, "Alarm is set -%d:%d:%d-\n", hour, min, sec);
uartSendString(buf);
uartSendString("---\n");
uartSendString("---\n");
uartSendString("---\n");
while (1) {
t = rtc_get_time();
sprintf(buf, "%d:%d:%d\n", t->hour, t->min, t->sec);
uartSendString(buf);
uartSendString("---\n");
if (rtc_check_alarm())
uartSendString("ALARM!\n");
_delay_ms(500);
}
}
void init_peripherals()
{
// LED
DDRC |= (1<<2);
// accel pins
lis3l_init();
// UART
uartInit();
uartSetBaudRate(19200);
uartSetFrameFormat(8, 0, 1);
rprintfInit(uartAddToTxBuffer);
cbi(DDRB, 1); // XBee CTS on PB1
// I2C
itg3200_i2cInit(200);
sbi(PORTC, 0); // i2c SCL on ATmega163,323,16,32,etc
sbi(PORTC, 1); // i2c SDA on ATmega163,323,16,32,etc
cbi(TWCR, TWIE); // disable interrupt
// itg3200_i2cSetBitrate(200); // todo, check if if w ecan do 200
// SPI
mySpiInit();
// a2d
a2dInit();
a2dSetReference(ADC_REFERENCE_256V);
a2dSetChannel(7);
cbi(PORTA, 7);
cbi(DDRA, 7);
a2dStartConvert();
_delay_ms(50);
// accel
BOOL accelOkay = lis3l_Reset();
itg3200_init();
// switch xbee to higher baudrate
// rprintfStr("+++");
// _delay_ms(55);
// rprintfStr("ATBD6,CN\r");
}
void setup() {
uart0Init();
uartSetBaudRate(0, 9600);
rprintfInit(uart0SendByte);
//rprintf("Hello.."); rprintfCRLF();
rprintf("$Id: psp_joystick.c,v 1.1.1.1 2007/08/21 05:14:23 julian Exp $");
vt100Init();
sbi(DDRD, DDD4); // output PD4
sbi(PORTD, PD4); // set it high
cbi(DDRD, DDD5); // input PD5
sbi(PORTD, PD5); // set it low
cbi(DDRA, DDA0); // input (one axis)
cbi(DDRA, DDA1); // input (the other axis)
//cbi(DDRA, DDA2); // input
//sbi(DDRA, DDA3); // output
//sbi(PORTA, PA0);
//sbi(PINA, PINA0); // set high
//sbi(PINA, PA3);
a2dInit();
// set up the power pulse LED
TCCR0A |= (1<<WGM00) | (1<<COM0A1); // mode 1, phase-correct PWM
TCCR0B |= (1<<CS02); // clk/256 from prescaler
//TCCR0B |= (0<<CS02) | (1<<CS01) | (1<<CS00); // clk/64
// set up and enable the power pulse thing
TCNT0 = 0x00;
sbi(TIMSK0, TOIE0);
sbi(DDRB, DDB3); // output on the LED
sbi(PORTB, PB3); // turn it on
u08 i, j;
for(j=0; j<1; j++) {
for(i=0; i<10; i++) {
_delay_ms(32);
}
cbi(PORTB, PB3);
for(i=0; i<10; i++) {
_delay_ms(32);
}
sbi(PORTB, PB3);
for(i=0; i<10; i++) {
_delay_ms(32);
}
}
cbi(PORTB, PB3);
sei();
}
int main(void)
{
uartInit();
uartSetBaudRate(115200);
rprintfInit(uartSendByte);
a2dInit();
timerInit();
vt100Init();
return 0;
}
int main(void)
{
timerInit(); // initializing timers
uartInit(); // initializing serial port
uartSetBaudRate(115200); // set serial port baud rate
rprintfInit(uartSendByte); // direct rprintf() output to go to serial port
timerPause(100); // wait for a moment
// print welcome message
rprintf("\r\n\n\nWelcome to the Spyglass UI test.\r\n");
// begin test application
spyglassTest();
return 0;
}
void uart1Init(void) {
// initialize the buffers
uart1InitBuffers();
// initialize user receive handlers
UartRxFunc[1] = 0;
// enable RxD/TxD and interrupts
outb(UCSR1B, BV(RXCIE1)|BV(TXCIE1)|BV(RXEN1)|BV(TXEN1));
// set default baud rate
uartSetBaudRate(1, UART1_DEFAULT_BAUD_RATE);
// initialize states
uartReadyTx[1] = TRUE;
uartBufferedTx[1] = FALSE;
// clear overflow count
uartRxOverflow[1] = 0;
// enable interrupts
sei();
}
//----- Begin Code ------------------------------------------------------------
int main(void)
{
// initialize our libraries
// initialize the UART (serial port)
uartInit();
// set the baud rate of the UART for our debug/reporting output
uartSetBaudRate(115200);
// initialize rprintf system
rprintfInit(uartSendByte);
// initialize timers
timerInit();
// run the test
extintTest();
return 0;
}
void uart0Init(void)
{
// initialize the buffers
uart0InitBuffers();
// initialize user receive handlers
UartRxFunc[0] = 0;
// enable RxD/TxD and interrupts
outb(UCSR0B, _BV(RXCIE)|_BV(TXCIE)|_BV(RXEN)|_BV(TXEN));
// set default baud rate
uartSetBaudRate(0, UART0_DEFAULT_BAUD_RATE);
// initialize states
uartReadyTx[0] = 1;
uartBufferedTx[0] = 0;
// clear overflow count
uartRxOverflow[0] = 0;
// enable interrupts
sei();
}
void init_uart(void) {
// initialize our libraries
// initialize the UART (serial port)
uartInit();
// set the baud rate of the UART for our debug/reporting output
uartSetBaudRate(9600);
// set uartSendByte as the output for all rprintf statements
rprintfInit(uartSendByte);
// initialize the timer system
timerInit();
// initialize vt100 library
vt100Init();
vt100ClearScreen();
// print a little intro message so we know things are working
rprintf("\r\nServo tester\r\n");
rprintf("Sebastien CELLES\r\n");
rprintf("IUT de Poitiers\r\n");
rprintf("Genie Thermique et Energie\r\n");
}
void uart1Init(void)
{
// initialize the buffers
uart1InitBuffers();
// initialize user receive handlers
UartRxFunc[1] = 0;
// enable RxD/TxD and interrupts
// use (UDRIEn) bit in UCSRnB instead of TXCIE
// no TXCIE interrupt since we've got nothing to transmit right now.
outb(UCSR1B, _BV(RXCIE)|_BV(RXEN)|_BV(TXEN));
// set default baud rate
uartSetBaudRate(1, UART1_DEFAULT_BAUD_RATE);
// initialize states
uartBufferedTx[1] = FALSE;
// clear overflow count
uartRxOverflow[1] = 0;
// enable interrupts
sei();
}
int main(void)
{
// initialize our libraries
// initialize the UART (serial port)
uartInit();
// set the baud rate of the UART for our debug/reporting output
uartSetBaudRate(9600);
// set uartSendByte as the output for all rprintf statements
rprintfInit(uartSendByte);
// initialize the timer system
timerInit();
// print a little intro message so we know things are working
rprintf("\r\nWelcom to Servo Test!\r\n");
// being servo test
servoTest();
return 0;
}
// enable and initialize the uart
void uartInit(void)
{
// initialize the buffers
uartInitBuffers();
// initialize user receive handler
UartRxFunc = 0;
// enable RxD/TxD and interrupts
outb(UCR, BV(RXCIE)|BV(TXCIE)|BV(RXEN)|BV(TXEN));
// set default baud rate
uartSetBaudRate(UART_DEFAULT_BAUD_RATE);
// initialize states
uartReadyTx = TRUE;
uartBufferedTx = FALSE;
// clear overflow count
uartRxOverflow = 0;
// enable interrupts
sei();
}
//----- Begin Code ------------------------------------------------------------
int main(void)
{
// initialize our libraries
// initialize the UART (serial port)
uartInit();
uartSetBaudRate(115200);
// make all rprintf statements use uart for output
rprintfInit(uartSendByte);
// initialize the timer system
timerInit();
// clear terminal screen
vt100ClearScreen();
vt100SetCursorPos(1,1);
// print a little intro message so we know things are working
rprintf("\r\nWelcome to ADS7828 test!\r\n");
// run tests
ads7828test();
return 0;
}
//----- Begin Code ------------------------------------------------------------
int main(void)
{
// initialize our libraries
// initialize the UART (serial port)
uartInit();
// set the baud rate of the UART for our debug/reporting output
uartSetBaudRate(9600);
// initialize the timer system
timerInit();
// initialize rprintf system
rprintfInit(uartSendByte);
// initialize vt100 library
vt100Init();
// clear the terminal screen
vt100ClearScreen();
// run the test
encoderTest();
return 0;
}
void init(void)
{
// Initialize Timer
timerInit();
// Initialize LCD
lcdInit();
ourLcdControlWrite(1<<LCD_ON_CTRL | 1<<LCD_ON_DISPLAY);
// Initialize UART
uartInit();
uartSetBaudRate(CMU_BAUD);
uartSetRxHandler(packetRcv);
rprintfInit(uartSendByte);
// Initialize PWM
outb(DDRD, 0xFF); // set all port D pins to output
timer1PWMInit(8);
timer1PWMAOn();
timer1PWMBOn();
// Initialize Servos
servoInit();
// Initialize CMU
lcdWriteStr("CMUcam2 init", 0, 0);
cmuInit();
}
void setup() {
uart0Init();
uartSetBaudRate(0, 9600);
rprintfInit(uart0SendByte);
rprintf("$Id$");
// this goes to the switch common
sbi(DDRA, DDA0); // output on PA0
sbi(PORTA, PA0); // take it high
cbi(DDRA, DDA1);
cbi(DDRA, DDA2);
cbi(DDRA, DDA3);
cbi(DDRA, DDA4);
cbi(DDRA, DDA5);
a2dInit();
a2dSetReference(ADC_REFERENCE_AVCC);
a2dSetPrescaler(ADC_PRESCALE_DIV128);
sbi(DDRB, PB3); // output for the LED
sbi(PORTB, PB3);
}
